movedone.m

粒子群(PSO)路径规划。这个是一个局部路径规划

function void = movedone(dimtemp,nextpoint)
%------------------

global curpoint;

global curstep;
global pamoveta;
global goalta;
global pathta;
global numta;





global hadsteps;

%将这一维的字赋值维2,然后初始化下一个节点
pamoveta(curstep,dimtemp) = 2;%2表示已经走过了
curstep = curstep+1;
pamoveta(curstep,:)= 1;
%将下一段的维值
tempta = mod(numta/2+dimtemp,numta);
if  tempta == 0
    tempta = 6;
end
pamoveta(curstep,tempta) = 3;%3表示来的路
%将走的点赋值给当前值，继续搜索
curpoint(1) = nextpoint(1);
curpoint(2) = nextpoint(2);
hadsteps(curstep,1) = curpoint(1);
hadsteps(curstep,2) = curpoint(2);
if pathplanning()
    result = true;
    return;
end